This paper is motivated by general issues concerned with autonomous navigation, coordination, and motion control of formations of mobile robots in 2D and 3D.
Over the past decades formation control has reached a considerable level of maturity [1]}, [2]}.
Meanwhile, the focus of interest was noticeably shifted towards the situation where coordination should be achieved by a formation that includes not only mobile agents jointly pursuing a common objective but also those apathetic or even hostile to it, which act non-cooperatively and on their own.
